2075a27ba3
Use Gradle 8.10.2 Use 2025 artifacts Remove Googletest, since managed automatically by native-utils
25 lines
2.2 KiB
Markdown
25 lines
2.2 KiB
Markdown
# WPILib Vendor Template
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This is the base WPILib vendor template for 2025.
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## Layout
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The build is split into 3 libraries. A java library is built. This has access to all of wpilib, and also can JNI load the driver library.
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A driver library is built. This should contain all low level code you want to access from both C++, Java and any other text based language. This will not work with LabVIEW. This library has access to the WPILib HAL and wpiutil. This library can only export C symbols. It cannot export C++ symbols at all, and all C symbols must be explicitly listed in the symbols.txt file in the driver folder. JNI symbols must be listed in this file as well. This library however can be written in C++. If you attempt to change this library to have access to all of wpilib, you will break JNI access and it will no longer work.
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A native C++ library is built. This has access to all of wpilib, and access to the driver library. This should implment the standard wpilib interfaces.
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## Customizing
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For Java, the library name will be the folder name the build is started from, so rename the folder to the name of your choosing.
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For the native impl, you need to change the library name in the exportsConfigs block of build.gradle, the components block of build.gradle, and the taskList input array name in publish.gradle.
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For the driver, change the library name in privateExportsConfigs, the driver name in components, and the driverTaskList input array name. In addition, you'll need to change the `lib library` in the native C++ impl component, and the JNI library name in the JNI java class.
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For the maven artifact names, those are all in publish.gradle about 40 lines down.
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## Building and editing
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This uses gradle, and uses the same base setup as a standard GradleRIO robot project. This means you build with `./gradlew build`, and can install the native toolchain with `./gradlew installRoboRIOToolchain`. If you open this project in VS Code with the wpilib extension installed, you will get intellisense set up for both C++ and Java.
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By default, this template builds against the latest WPILib development build. To build against the last WPILib tagged release, build with `./gradlew build -PreleaseMode`. |